diff --git a/docker-compose.yaml b/docker-compose.yaml
index 1189dcd..f4512f6 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -1,6 +1,6 @@
 services:
   toid:
-    image: toid 
+    image: localhost:5000/toid 
     container_name: toid
 
     privileged: true
diff --git a/toid_behaviors/CMakeLists.txt b/toid_behaviors/CMakeLists.txt
deleted file mode 100644
index 93201c2..0000000
--- a/toid_behaviors/CMakeLists.txt
+++ /dev/null
@@ -1,63 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(toid_control)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-set(library_name toid_control)
-
-set(PACKAGE_DEPS
-  rclcpp
-  pluginlib
-  hardware_interface
-  rclcpp_lifecycle
-  rclcpp_components
-)
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-
-foreach(PACKAGE ${PACKAGE_DEPS})
-  find_package(${PACKAGE} REQUIRED)
-endforeach()
-
-
-add_library(
-  ${library_name}
-  SHARED
-  src/toid_control.cpp
-)
-
-target_include_directories(
-  ${library_name}
-  PRIVATE
-  include
-)
-
-ament_target_dependencies(${library_name}
-  ${PACKAGE_DEPS}
-)
-
-pluginlib_export_plugin_description_file(hardware_interface toid_control_interfaces.xml)
-
-install(
-  TARGETS ${library_name} 
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
-
-install(
-  DIRECTORY 
-    launch 
-    params
-    rviz
-  DESTINATION share/${PROJECT_NAME}/
-)
-
-ament_export_include_directories(include)
-ament_export_libraries(${library_name})
-ament_export_dependencies(${PACKAGE_DEPS})
-
-ament_package()
diff --git a/toid_behaviors/package.xml b/toid_behaviors/package.xml
deleted file mode 100644
index d96c227..0000000
--- a/toid_behaviors/package.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>toid_control</name>
-  <version>0.0.1</version>
-  <description>Ros2 control compatible drivers for magrob</description>
-  <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
-  <license>Apache-2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>ros2launch</depend>
-
-  <depend>rclcpp</depend>
-  <depend>rclcpp_lifecycle</depend>
-  <depend>rclcpp_components</depend>
-  <depend>pluginlib </depend>
-
-  <depend>ros2_control</depend>
-  <depend>hardware_interface</depend>
-
-  <depend>controller_manager</depend>
-  <depend>diff_drive_controller</depend>
-  <depend>robot_state_publisher</depend>
-  <depend>joint_state_broadcaster</depend>
-
-  <depend>boost</depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/toid_behaviors/toid_control_interfaces.xml b/toid_behaviors/toid_control_interfaces.xml
deleted file mode 100644
index 53369d8..0000000
--- a/toid_behaviors/toid_control_interfaces.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-    <library path="toid_behaviors">
-        <class 
-            name="toid_behaviors/MoveAhead"
-            type="toid::MoveAheadBehavior" 
-            base_class_type="nav2_core::Behavior"
-        />
-    </library>
\ No newline at end of file